OpenRaiser/Intern-Atlas huggingface dataset:
Robust Tube-based Model Predictive Control for Time-constrained Robot Navigation
Venue: arXiv cs.SY 2019
Year: 2019

This paper deals with the problem of time-constrained navigation of a robot modeled by uncertain nonlinear non-affine dynamics in a bounded workspace of $\mathbb{R}^n$. Initially, we provide a novel class of robust feedback controllers that drive the robot between Regions of Interest (RoI) of the workspace. The control laws consists of two parts: an on-line controller which is the outcome of a Finite Horizon Optimal Control Problem (FHOCP); and a backstepping feedback law which is tuned off-line and guarantees that the real trajectory always remains in a bounded hyper-tube centered along the nominal trajectory of the robot. The proposed controller falls within the so-called tube-based Nonlinear Model Predictive control (NMPC) methodology. Then, given a desired high-level specification for the robot in Metric Interval Temporal Logic (MITL), by utilizing the aforementioned controllers, a framework that provably guarantees the satisfaction of the formula is provided. The proposed framework can handle the rich expressiveness of MITL in both safety and reachability specifications. Finally, the proposed framework is validated by numerical simulations.
PeSOA: Penguins Search Optimisation Algorithm for Global Optimisation Problems
Venue: arXiv cs.NE 2019
Year: 2019

This paper develops Penguin search Optimisation Algorithm (PeSOA), a new metaheuristic algorithm which is inspired by the foraging behaviours of penguins. A population of penguins located in the solution space of the given search and optimisation problem is divided into groups and tasked with finding optimal solutions. The penguins of a group perform simultaneous dives and work as a team to collaboratively feed on fish the energy content of which corresponds to the fitness of candidate solutions. Fish stocks have higher fitness and concentration near areas of solution optima and thus drive the search. Penguins can migrate to other places if their original habitat lacks food. We identify two forms of penguin communication both intra-group and inter-group which are useful in designing intensification and diversification strategies. An efficient intensification strategy allows fast convergence to a local optimum, whereas an effective diversification strategy avoids cyclic behaviour around local optima and explores more effectively the space of potential solutions. The proposed PeSOA algorithm has been validated on a well-known set of benchmark functions. Comparative performances with six other nature-inspired metaheuristics show that the PeSOA performs favourably in these tests. A run-time analysis shows that the performance obtained by the PeSOA is very stable at any time of the evolution horizon, making the PeSOA a viable approach for real world applications.
A Generalized Index for Static Voltage Stability of Unbalanced Polyphase Power Systems including Thévenin Equivalents and Polynomial Models
Venue: arXiv cs.SY 2019
Year: 2019

This paper proposes a Voltage Stability Index (VSI) suitable for unbalanced polyphase power systems. To this end, the grid is represented by a polyphase multiport network model (i.e., compound hybrid parameters), and the aggregate behavior of the devices in each node by Thévenin Equivalents (TEs) and Polynomial Models (PMs), respectively. The proposed VSI is a generalization of the known L-index, which is achieved through the use of compound electrical parameters, and the incorporation of TEs and PMs into its formal definition. Notably, the proposed VSI can handle unbalanced polyphase power systems, explicitly accounts for voltage-dependent behavior (represented by PMs), and is computationally inexpensive. These features are valuable for the operation of both transmission and distribution systems. Specifically, the ability to handle the unbalanced polyphase case is of particular value for distribution systems. In this context, it is proven that the compound hybrid parameters required for the calculation of the VSI do exist under practical conditions (i.e., for lossy grids). The proposed VSI is validated against state-of-the-art methods for voltage stability assessment using a benchmark system which is based on the IEEE 34-node feeder.
Hierarchy-based Image Embeddings for Semantic Image Retrieval
Venue: arXiv cs.CV 2019
Year: 2019

Deep neural networks trained for classification have been found to learn powerful image representations, which are also often used for other tasks such as comparing images w.r.t. their visual similarity. However, visual similarity does not imply semantic similarity. In order to learn semantically discriminative features, we propose to map images onto class embeddings whose pair-wise dot products correspond to a measure of semantic similarity between classes. Such an embedding does not only improve image retrieval results, but could also facilitate integrating semantics for other tasks, e.g., novelty detection or few-shot learning. We introduce a deterministic algorithm for computing the class centroids directly based on prior world-knowledge encoded in a hierarchy of classes such as WordNet. Experiments on CIFAR-100, NABirds, and ImageNet show that our learned semantic image embeddings improve the semantic consistency of image retrieval results by a large margin.
Towards Efficient and Secure Delivery of Data for Training and Inference with Privacy-Preserving
Venue: arXiv cs.LG 2019
Year: 2019

Privacy recently emerges as a severe concern in deep learning, that is, sensitive data must be prohibited from being shared with the third party during deep neural network development. In this paper, we propose Morphed Learning (MoLe), an efficient and secure scheme to deliver deep learning data. MoLe has two main components: data morphing and Augmented Convolutional (Aug-Conv) layer. Data morphing allows data providers to send morphed data without privacy information, while Aug-Conv layer helps deep learning developers to apply their networks on the morphed data without performance penalty. MoLe provides stronger security while introducing lower overhead compared to GAZELLE (USENIX Security 2018), which is another method with no performance penalty on the neural network. When using MoLe for VGG-16 network on CIFAR dataset, the computational overhead is only 9% and the data transmission overhead is 5.12%. As a comparison, GAZELLE has computational overhead of 10,000 times and data transmission overhead of 421,000 times. In this setting, the attack success rate of adversary is 7.9 x 10^{-90} for MoLe and 2.9 x 10^{-30} for GAZELLE, respectively.
Photometric Depth Super-Resolution
Venue: arXiv cs.CV 2019
Year: 2019

This study explores the use of photometric techniques (shape-from-shading and uncalibrated photometric stereo) for upsampling the low-resolution depth map from an RGB-D sensor to the higher resolution of the companion RGB image. A single-shot variational approach is first put forward, which is effective as long as the target's reflectance is piecewise-constant. It is then shown that this dependency upon a specific reflectance model can be relaxed by focusing on a specific class of objects (e.g., faces), and delegate reflectance estimation to a deep neural network. A multi-shot strategy based on randomly varying lighting conditions is eventually discussed. It requires no training or prior on the reflectance, yet this comes at the price of a dedicated acquisition setup. Both quantitative and qualitative evaluations illustrate the effectiveness of the proposed methods on synthetic and real-world scenarios.
MedTruth: A Semi-supervised Approach to Discovering Knowledge Condition Information from Multi-Source Medical Data
Venue: arXiv cs.DB 2019
Year: 2019

Knowledge Graph (KG) contains entities and the relations between entities. Due to its representation ability, KG has been successfully applied to support many medical/healthcare tasks. However, in the medical domain, knowledge holds under certain conditions. For example, symptom \emph{runny nose} highly indicates the existence of disease \emph{whooping cough} when the patient is a baby rather than the people at other ages. Such conditions for medical knowledge are crucial for decision-making in various medical applications, which is missing in existing medical KGs. In this paper, we aim to discovery medical knowledge conditions from texts to enrich KGs. Electronic Medical Records (EMRs) are systematized collection of clinical data and contain detailed information about patients, thus EMRs can be a good resource to discover medical knowledge conditions. Unfortunately, the amount of available EMRs is limited due to reasons such as regularization. Meanwhile, a large amount of medical question answering (QA) data is available, which can greatly help the studied task. However, the quality of medical QA data is quite diverse, which may degrade the quality of the discovered medical knowledge conditions. In the light of these challenges, we propose a new truth discovery method, MedTruth, for medical knowledge condition discovery, which incorporates prior source quality information into the source reliability estimation procedure, and also utilizes the knowledge triple information for trustworthy information computation. We conduct series of experiments on real-world medical datasets to demonstrate that the proposed method can discover meaningful and accurate conditions for medical knowledge by leveraging both EMR and QA data. Further, the proposed method is tested on synthetic datasets to validate its effectiveness under various scenarios.
New Radio Beam-based Access to Unlicensed Spectrum: Design Challenges and Solutions
Venue: arXiv cs.NI 2019
Year: 2019

This paper elaborates on the design challenges, opportunities, and solutions for New Radio-based access to Unlicensed spectrum (NR-U) by taking into account the beam-based transmissions and the worldwide regulatory requirements. NR-U intends to expand the applicability of 5th generation New Radio access technology to support operation in unlicensed bands by adhering to Listen-Before-Talk (LBT) requirements for accessing the channel. LBT was already adopted by different variants of 4th generation Long Term Evolution (LTE) in unlicensed spectrum, i.e., Licensed-Assisted Access and MulteFire, to guarantee fair coexistence among different radio access technologies. In the case of beam-based transmissions, the NR-U coexistence framework is significantly different as compared to LTE in unlicensed spectrum due to the use of directional antennas, which enhance the spatial reuse but also complicate the interference management. In particular, beam-based transmissions are needed in the unlicensed spectrum at millimeter-wave (mmWave) bands, which is an attractive candidate for NR-U due to its large amount of allocated spectrum. As a consequence, some major design principles need to be revisited to address coexistence for beam-based NR-U. In this paper, different problems and the potential solutions related to channel access procedures, frame structure, initial access procedures, re-transmission procedures, and scheduling schemes are discussed. A simulation evaluation of different LBT-based channel access procedures for NR-U/Wi-Fi indoor mmWave coexistence scenarios is also provided.
The role of decision confidence in advice-taking and trust formation
Venue: arXiv cs.SI 2019
Year: 2019

In a world where ideas flow freely between people across multiple platforms, we often find ourselves relying on others' information without an objective standard to judge whether those opinions are accurate. The present study tests an agreement-in-confidence hypothesis of advice perception, which holds that internal metacognitive evaluations of decision confidence play an important functional role in the perception and use of social information, such as peers' advice. We propose that confidence can be used, computationally, to estimate advisors' trustworthiness and advice reliability. Specifically, these processes are hypothesized to be particularly important in situations where objective feedback is absent or difficult to acquire. Here, we use a judge-advisor system paradigm to precisely manipulate the profiles of virtual advisors whose opinions are provided to participants performing a perceptual decision making task. We find that when advisors' and participants' judgments are independent, people are able to discriminate subtle advice features, like confidence calibration, whether or not objective feedback is available. However, when observers' judgments (and judgment errors) are correlated - as is the case in many social contexts - predictable distortions can be observed between feedback and feedback-free scenarios. A simple model of advice reliability estimation, endowed with metacognitive insight, is able to explain key patterns of results observed in the human data. We use agent-based modeling to explore implications of these individual-level decision strategies for network-level patterns of trust and belief formation.
Closest-Pair Queries in Fat Rectangles
Venue: arXiv cs.CG 2019
Year: 2019

In the range closest pair problem, we want to construct a data structure storing a set $S$ of $n$ points in the plane, such that for any axes-parallel query rectangle $R$, the closest pair in the set $R \cap S$ can be reported. The currently best result for this problem is by Xue et al.~(SoCG 2018). Their data structure has size $O(n \log^2 n)$ and query time $O(\log^2 n)$. We show that a data structure of size $O(n \log n)$ can be constructed in $O(n \log n)$ time, such that queries can be answered in $O(\log n + f \log f)$ time, where $f$ is the aspect ratio of $R$. Thus, for fat query rectangles, the query time is $O(\log n)$. This result is obtained by reducing the range closest pair problem to standard range searching problems on the points of $S$.
Counterfactual Fairness in Text Classification through Robustness
Venue: arXiv cs.LG 2019
Year: 2019

In this paper, we study counterfactual fairness in text classification, which asks the question: How would the prediction change if the sensitive attribute referenced in the example were different? Toxicity classifiers demonstrate a counterfactual fairness issue by predicting that "Some people are gay" is toxic while "Some people are straight" is nontoxic. We offer a metric, counterfactual token fairness (CTF), for measuring this particular form of fairness in text classifiers, and describe its relationship with group fairness. Further, we offer three approaches, blindness, counterfactual augmentation, and counterfactual logit pairing (CLP), for optimizing counterfactual token fairness during training, bridging the robustness and fairness literature. Empirically, we find that blindness and CLP address counterfactual token fairness. The methods do not harm classifier performance, and have varying tradeoffs with group fairness. These approaches, both for measurement and optimization, provide a new path forward for addressing fairness concerns in text classification.
Real-time Dynamic Object Detection for Autonomous Driving using Prior 3D-Maps
Venue: arXiv cs.CV 2019
Year: 2019

Lidar has become an essential sensor for autonomous driving as it provides reliable depth estimation. Lidar is also the primary sensor used in building 3D maps which can be used even in the case of low-cost systems which do not use Lidar. Computation on Lidar point clouds is intensive as it requires processing of millions of points per second. Additionally there are many subsequent tasks such as clustering, detection, tracking and classification which makes real-time execution challenging. In this paper, we discuss real-time dynamic object detection algorithms which leverages previously mapped Lidar point clouds to reduce processing. The prior 3D maps provide a static background model and we formulate dynamic object detection as a background subtraction problem. Computation and modeling challenges in the mapping and online execution pipeline are described. We propose a rejection cascade architecture to subtract road regions and other 3D regions separately. We implemented an initial version of our proposed algorithm and evaluated the accuracy on CARLA simulator.
Universal and Dynamic Locally Repairable Codes with Maximal Recoverability via Sum-Rank Codes
Venue: arXiv cs.IT 2019
Year: 2019

Locally repairable codes (LRCs) are considered with equal or unequal localities, local distances and local field sizes. An explicit two-layer architecture with a sum-rank outer code is obtained, having disjoint local groups and achieving maximal recoverability (MR) for all families of local linear codes (MDS or not) simultaneously, up to a specified maximum locality $ r $. Furthermore, the local linear codes (thus the localities, local distances and local fields) can be efficiently and dynamically modified without global recoding or changes in architecture or outer code, while preserving the MR property, easily adapting to new configurations in storage or new hot and cold data. In addition, local groups and file components can be added, removed or updated without global recoding. The construction requires global fields of size roughly $ g^r $, for $ g $ local groups and maximum or specified locality $ r $. For equal localities, these global fields are smaller than those of previous MR-LRCs when $ r \leq h $ (global parities). For unequal localities, they provide an exponential field size reduction on all previous best known MR-LRCs. For bounded localities and a large number of local groups, the global erasure-correction complexity of the given construction is comparable to that of Tamo-Barg codes or Reed-Solomon codes with local replication, while local repair is as efficient as for the Cartesian product of the local codes. Reed-Solomon codes with local replication and Cartesian products are recovered from the given construction when $ r=1 $ and $ h = 0 $, respectively. The given construction can also be adapted to provide hierarchical MR-LRCs for all types of hierarchies and parameters. Finally, subextension subcodes and sum-rank alternant codes are introduced to obtain further exponential field size reductions, at the expense of lower information rates.
Memory and Resource Leak Defects and their Repairs in Java Projects
Venue: arXiv cs.SE 2019
Year: 2019

Despite huge software engineering efforts and programming language support, resource and memory leaks are still a troublesome issue, even in memory-managed languages such as Java. Understanding the properties of leak-inducing defects, how the leaks manifest, and how they are repaired is an essential prerequisite for designing better approaches for avoidance, diagnosis, and repair of leak-related bugs. We conduct a detailed empirical study on 491 issues from 15 large open-source Java projects. The study proposes taxonomies for the leak types, for the defects causing them, and for the repair actions. We investigate, under several aspects, the distributions within each taxonomy and the relationships between them. We find that manual code inspection and manual runtime detection are still the main methods for leak detection. We find that most of the errors manifest on error-free execution paths, and developers repair the leak defects in a shorter time than non-leak defects. We also identify 13 recurring code transformations in the repair patches. Based on our findings, we draw a variety of implications on how developers can avoid, detect, isolate and repair leak-related bugs.
Pixel and Feature Level Based Domain Adaption for Object Detection in Autonomous Driving
Venue: arXiv cs.CV 2019
Year: 2019

Annotating large scale datasets to train modern convolutional neural networks is prohibitively expensive and time-consuming for many real tasks. One alternative is to train the model on labeled synthetic datasets and apply it in the real scenes. However, this straightforward method often fails to generalize well mainly due to the domain bias between the synthetic and real datasets. Many unsupervised domain adaptation (UDA) methods are introduced to address this problem but most of them only focus on the simple classification task. In this paper, we present a novel UDA model to solve the more complex object detection problem in the context of autonomous driving. Our model integrates both pixel level and feature level based transformtions to fulfill the cross domain detection task and can be further trained end-to-end to pursue better performance. We employ objectives of the generative adversarial network and the cycle consistency loss for image translation in the pixel space. To address the potential semantic inconsistency problem, we propose region proposal based feature adversarial training to preserve the semantics of our target objects as well as further minimize the domain shifts. Extensive experiments are conducted on several different datasets, and the results demonstrate the robustness and superiority of our method.
AgriColMap: Aerial-Ground Collaborative 3D Mapping for Precision Farming
Venue: arXiv cs.RO 2019
Year: 2019

The combination of aerial survey capabilities of Unmanned Aerial Vehicles with targeted intervention abilities of agricultural Unmanned Ground Vehicles can significantly improve the effectiveness of robotic systems applied to precision agriculture. In this context, building and updating a common map of the field is an essential but challenging task. The maps built using robots of different types show differences in size, resolution and scale, the associated geolocation data may be inaccurate and biased, while the repetitiveness of both visual appearance and geometric structures found within agricultural contexts render classical map merging techniques ineffective. In this paper we propose AgriColMap, a novel map registration pipeline that leverages a grid-based multimodal environment representation which includes a vegetation index map and a Digital Surface Model. We cast the data association problem between maps built from UAVs and UGVs as a multimodal, large displacement dense optical flow estimation. The dominant, coherent flows, selected using a voting scheme, are used as point-to-point correspondences to infer a preliminary non-rigid alignment between the maps. A final refinement is then performed, by exploiting only meaningful parts of the registered maps. We evaluate our system using real world data for 3 fields with different crop species. The results show that our method outperforms several state of the art map registration and matching techniques by a large margin, and has a higher tolerance to large initial misalignments. We release an implementation of the proposed approach along with the acquired datasets with this paper.
Elastic Neural Networks for Classification
Venue: arXiv cs.CV 2019
Year: 2019

In this work we propose a framework for improving the performance of any deep neural network that may suffer from vanishing gradients. To address the vanishing gradient issue, we study a framework, where we insert an intermediate output branch after each layer in the computational graph and use the corresponding prediction loss for feeding the gradient to the early layers. The framework - which we name Elastic network - is tested with several well-known networks on CIFAR10 and CIFAR100 datasets, and the experimental results show that the proposed framework improves the accuracy on both shallow networks (e.g., MobileNet) and deep convolutional neural networks (e.g., DenseNet). We also identify the types of networks where the framework does not improve the performance and discuss the reasons. Finally, as a side product, the computational complexity of the resulting networks can be adjusted in an elastic manner by selecting the output branch according to current computational budget.